公开(公告)号：US20250045875A1

公开(公告)日：2025-02-06

申请号：US18716828

申请日：2021-12-07

Applicant: NIPPON TELEGRAPH AND TELEPHONE CORPORATION

Inventor： Shogo SATO ,  Yasuhiro YAO ,  Shingo ANDO ,  Jun SHIMAMURA

IPC: G06T5/50 ,  G06T5/70 ,  G06T7/13 ,  G06T7/90 ,  G06V10/44 ,  G06V10/60 ,  G06V10/762 ,  G06V20/70

Abstract: An input processing unit receives an image and a three-dimensional point cloud including three-dimensional points having reflection intensity on a surface of an object for which at least a relationship between an image capturing position and a measurement position is obtained in advance, and obtains pixel positions on the image corresponding to the respective three-dimensional points of the three-dimensional point cloud. A shadow region estimation unit performs clustering on pixels of the image on the basis of pixel values and pixel positions, obtains an average reflection intensity and an average value of quantified color information for each of clusters, and estimates a shadow region by performing comparison in the average reflection intensity and the average value of the color information between the clusters. A shadow correction unit corrects pixel values of the shadow region from the shadow region estimated and the image.